Puncture abnormality detection method, device, puncture device and computer storage medium

An abnormality detection and abnormality technology, applied in the fields of computer storage medium, device, puncture abnormality detection method, and puncture equipment, can solve the problems of accidental injury of puncture object, inability to obtain the puncture status in real time, and inability to accurately judge whether the puncture is abnormal or not. , to prevent accidental injury

Active Publication Date: 2020-04-10
SHANGHAI TMI ROBOTICS TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] With the development of robotic technology, puncture robots and other equipment are gradually used in the field of surgery. However, due to the limitations of clinical imaging technology, it may not be possible to obtain the puncture status in real time, resulting in

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  • Puncture abnormality detection method, device, puncture device and computer storage medium
  • Puncture abnormality detection method, device, puncture device and computer storage medium
  • Puncture abnormality detection method, device, puncture device and computer storage medium

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Embodiment Construction

[0052] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.

[0053] figure 1 It is a schematic flow chart of the abnormal puncture detection method in an embodiment. Such as figure 1 As shown, in one embodiment, a method for abnormal puncture detection includes:

[0054] Step S120: Obtain the motion data of the robotic arm, the joint current, and the sensing value of the puncture force in real time.

[0055] Specifically, the abnormal puncture detection method in this embodiment can be applied to puncture equipment such as a puncture robot with a mechanical arm, and a pu...

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Abstract

The invention discloses a puncture abnormality detection method, a device, a puncture device and a computer storage medium. The puncture abnormality detection method comprises the following steps: acquiring motion data, a joint current and a puncture action force induction value of a mechanical arm in real time; fusing the joint current and the puncture action force induction value to obtain a puncture action force fusion value; based on a relationship between motion of the mechanical arm and puncture action force, performing calculating to obtain a puncture action force ideal value accordingto the motion data; and comparing the puncture action force fusion value with a puncture action force ideal value, and judging whether puncture abnormality occurs or not according to a comparison result. According to the method, the fusion value of the puncture acting force can be calculated in real time according to relevant parameters of the mechanical arm, and the fusion value is compared withthe ideal value of the puncture acting force under a motion condition of the current mechanical arm, so that whether a puncture abnormal condition occurs or not can be automatically and accurately judged, and accidental injury to a puncture object is prevented.

Description

technical field [0001] Embodiments of the present invention relate to medical device technology, and in particular to a method and device for detecting abnormal puncture, a puncture device, and a computer storage medium. Background technique [0002] With the development of robotic technology, puncture robots and other equipment are gradually used in the field of surgery. However, due to the limitations of clinical imaging technology, it may not be possible to obtain the puncture status in real time, resulting in the inability to accurately judge whether abnormalities occur during the puncture process. Therefore, when an abnormal puncture occurs, it may cause unexpected damage to the puncture object because the abnormal condition cannot be detected in time and the puncture is stopped. Contents of the invention [0003] Based on this, aiming at the above-mentioned technical problems, the present invention provides a method, device, computer equipment and storage medium for ...

Claims

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Application Information

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IPC IPC(8): A61B34/30A61B17/34
CPCA61B34/30A61B34/76A61B34/77A61B17/34
Inventor 潘晶苏至钒夏知拓冯义兴
Owner SHANGHAI TMI ROBOTICS TECH CO LTD
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